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Designing an Encountered-type Haptic Display for Multiple F..:

Yokokohji, Yasuyoshi ; Muramori, Nobuhiko ; Sato, Yuji.
The International Journal of Robotics Research.  24 (2005)  9 - p. 717-729 , 2005
Link: https://doi.org/10.1177/0278364905057123